Integration of a stereo multiple-laser ranger system and forcesensor in a virtual robotic environment

摘要

We show the advantages of fusing a multi-laser ranging system witha force sensor and a virtual reality system. The multi-laser system iscapable of calculating the range of objects in 3D space with respect toa multi-robot coordinate frame. It is also equipped with a real-timeimage processor (SHARC) system used for ranging and identifying simpleobjects. The force sensor on the gripper of one of the robot arms allowsthe measurement in 3D space of the force and torque acting on thegripper. The range, force and torque data as well as kinematicinformation are integrated in order to improve the planning andexecution of tasks, e.g. interaction with randomly placed objects. Wealso describe the volume of sensing of the laser ranger system. Thisvolume is incorporated into a virtual reality system to simulate thereal environment of the robot, and allow planning to take place in thebest sensing position. A significant proportion of the work has includedthe integration of a diverse range of systems into a uniform parallelprocessing environment